Indirect Adaptive Output Feedback Control of a Biorobotic AUV Using Pectoral-like Mechanical Fins

Authors

Mugdha S. Naik, University of Nevada, Las VegasFollow
Sahjendra N. Singh, University of Nevada, Las VegasFollow
Rajat Mittal, The George Washington UniversityFollow

Document Type

Article

Publication Date

6-2009

Publication Title

Bioinspiration and Biomimetics

Volume

4

Issue

2

First page number:

11

Abstract

This paper treats the question of servoregulation of autonomous underwater vehicles (AUVs) in the yaw plane using pectoral-like mechanical fins. The fins attached to the vehicle have oscillatory swaying and yawing motion. The bias angle of the angular motion of the fin is used for the purpose of control. Of course, the design approach considered here is applicable to AUVs for other choices of oscillation patterns of the fins, which produce periodic forces and moments. It is assumed that the vehicle parameters, hydrodynamic coefficients, as well the fin forces and moments are unknown. For the trajectory control of the yaw angle, a sampled-data indirect adaptive control system using output (yaw angle) feedback is derived. The control system has a modular structure, which includes a parameter identifier and a stabilizer. For the control law derivation, an internal model of the exosignals (reference signal (constant or ramp) and constant disturbance) is included. Unlike the direct adaptive control scheme, the derived control law is applicable to minimum as well as nonminimum phase biorobotic AUVs (BAUVs). This is important, because for most of the fin locations on the vehicle, the model is a nonminimum phase. In the closed-loop system, the yaw angle trajectory tracking error converges to zero and the remaining state variables remain bounded. Simulation results are presented which show that the derived modular control system accomplishes precise set point yaw angle control and turning maneuvers in spite of the uncertainties in the system parameters using only yaw angle feedback.

Keywords

Adaptive control systems; Feedback control systems; Remote submersibles –Control systems

Permissions

Use Find in Your Library, contact the author, or use interlibrary loan to garner a copy of the article. Publisher copyright policy allows author to archive post-print (author’s final manuscript). When post-print is available or publisher policy changes, the article will be deposited

Repository Citation

Naik, M. S., Singh, S. N., Mittal, R. (2009). Indirect Adaptive Output Feedback Control of a Biorobotic AUV Using Pectoral-like Mechanical Fins. Bioinspiration and Biomimetics, 4(2), 11.